Ultrasound imaging assistance system

Abstract

Provided is an ultrasound imaging assistance system that presents, to an operator, intuitive information during operation of an ultrasonic probe, namely the magnitude of a contact force applied by the ultrasonic probe and the manner in which the ultrasonic probe is maneuvered during scan using the ultrasonic probe. The present invention comprises: a front bracket 215 and a back bracket 220 that cover an ultrasonic probe 100 such that a contact surface 25 of a subject 20 to be scanned by the ultrasonic probe 100 is exposed and that are combined and integrated to form a bracket 210; and a first side triaxial force sensor 230 and a second side triaxial force sensor 232 that measure respective forces in the X axis, the Y axis, and the Z axis and that are disposed on both sides of the bracket in the X-axis direction, and a front triaxial force sensor 240 and a back triaxial force sensor 242 that are disposed on both sides in the Y-axis direction.

Description

Ultrasound imaging support system

[0001] The present invention relates to a system for assisting in the acquisition of ultrasound images, and more specifically, to a system for collecting and presenting probe operation information and acquired images during ultrasound image acquisition.

[0002] In evaluation and diagnosis using ultrasound imaging, advanced ultrasound probe manipulation skills are required to acquire appropriate images of the subject. Ultrasound images are tomographic images, and the acquired cross-section of the biological tissue changes depending on the probe's orientation. However, the orientation of the ultrasound image displayed on the ultrasound diagnostic device is always constant, making it difficult for inexperienced operators to visualize the cross-section being acquired. Improving proficiency in ultrasound probe manipulation required a significant amount of practice time.

[0003] To solve these problems and ensure that the ultrasonic probe makes proper contact with the target, a technology has been disclosed in which multiple pressure sensors are placed at the tip of the ultrasonic probe (see Patent Document 1).

[0004] Furthermore, technologies have been disclosed that measure information regarding the state of an ultrasonic probe and visualize and quantify the operating technique. Examples of such technologies include a contact force measurement device for an ultrasonic probe using a load cell capable of measuring force in six axes (see Non-Patent Document 1), and the display of the probe's position and orientation using motion capture markers (see Non-Patent Document 2).

[0005] Japanese Patent Publication No. 2009-254779

[0006] M. Gilbertson and B. Anthony, "An ergonomic, instrumented ultrasound probe for 6-axis force / torque measurement," in Proc. IEEE Eng. Med. Biol. Conf., Jul. 2013, pp. 140-143. Fuyuki Koneyama, Hideya Mizuno, Hiroaki Senba, Yasuhiko Jinbo, and Kiyoshi Kotani, "Study of subject biometric information and probe manipulation techniques for automation and semi-automation of echocardiography," Transactions of the Institute of Electrical Engineers of Japan (Electronics, Information and Systems Division), Vol. 40, No. 7, pp. 747-753, 2020.

[0007] The technology disclosed in Patent Document 1 involves a plurality of pressure sensors provided at the tip of an ultrasonic probe to detect imbalances in contact pressure in the up, down, left, and right directions relative to an object, and determining the tilt of the ultrasonic probe relative to the object based on the pressure detected by each pressure sensor. However, it does not indicate the direction of the force applied to the object.

[0008] Non-patent document 1 describes the measurement of contact force between an ultrasonic probe and an object, but it only presents the operator with a numerical value of the force in the longitudinal direction of the probe as the contact force, and does not show the actual movement of the probe or the force in the planar direction when it contacts the object. Furthermore, the load cell, which is the sensor for force measurement, is installed in a cantilevered position, and it is thought that a moment that should not occur due to the configuration of the sensor device is generated and acts on the object being imaged.

[0009] The technology disclosed in Non-Patent Document 2 shows the position and orientation of a probe using motion capture markers, but it does not allow for the determination of the force actually applied to the sensor device, and therefore cannot provide information related to the operator's tactile sensation.

[0010] This invention has been made in view of the circumstances described above, and aims to provide an ultrasonic imaging support system that provides the operator with intuitive information about probe operation, such as the amount of contact force and the manner in which the ultrasonic probe is being moved during scanning with the ultrasonic probe.

[0011] The present invention relates to an ultrasonic imaging support system. One embodiment comprises a bracket that covers an ultrasonic probe so that the contact surface is exposed; a three-axis force sensor positioned on both sides of the bracket in the X-axis direction and both sides of the bracket in the Y-axis direction, which measures the force in the X-axis, Y-axis, and Z-axis directions, when the direction in which the ultrasonic probe is perpendicular to the contact surface is the Z-axis direction, the width direction of the ultrasonic probe is the X-axis direction, and the direction perpendicular to the X-axis direction on the contact surface is the Y-axis direction; an inertia sensor positioned on the bracket or ultrasonic probe, which measures the acceleration and angular velocity of each of the X-axis, Y-axis, and Z-axis directions; and a contact force calculation means that calculates the force Fx in the X-axis direction, the force Fy in the Y-axis direction, and the force Fz in the Z-axis direction applied to the entire bracket from the outputs of each three-axis force sensor, and further corrects Fx, Fy, and Fz from the accelerations of the X-axis, Y-axis, and Z-axis output from the inertia sensor to calculate F'x, F'y, and F'z, and calculates the magnitude and direction of the contact force Fp on the contact surface of the ultrasonic probe.

[0012] The technology disclosed in Non-Patent Document 1 measures contact force by placing a load cell on the side of an ultrasound probe. However, in this configuration, the load cell is positioned on only one side of the probe, creating a cantilever structure. When pressed against a living body, a moment is generated due to the configuration of the measurement system, acting on the operator and the subject. Therefore, the measured contact force may differ from the actual pressure applied to the probe, potentially resulting in a discrepancy between the measured force and the force applied during the actual procedure.

[0013] This configuration measures the force exerted on the ultrasound probe by the target object when the bracket-mounted ultrasound probe comes into contact with the object, and records this force as the contact force between the ultrasound probe and the target object. In this system, the ultrasound probe and the bracket are connected only via three-axis force sensors. Therefore, it is possible to calculate the magnitude and direction of the contact force between the ultrasound probe and the object being imaged from the output of each three-axis force sensor.

[0014] When an operator holds an ultrasonic probe with a bracket attached, two forces act on it: a holding force to maintain the position and orientation of the ultrasonic probe, and a gripping force to hold the probe. The holding force must be balanced with the contact force the ultrasonic probe receives. Within the ultrasonic module, the force received by the 3-axis force sensor via the bracket when the ultrasonic probe contacts the object is balanced by the force supporting the 3-axis force sensor by the holding force. As for the gripping force, if the rigidity of the hand-side part is sufficiently high, it will not affect the contact force measurement.

[0015] In actual ultrasound examinations, the ultrasound probe is expected to be pressed against various parts of the body, resulting in the probe being tilted relative to the horizontal plane. Therefore, by incorporating an inertia sensor into the system that measures contact force and performing posture measurement, it is possible to correct for the influence of gravitational acceleration on the probe mass and the measurement values ​​of the three-axis force sensor.

[0016] This configuration provides a contact force measurement system that focuses on measuring the contact force with the imaging target, can be attached to an ultrasound probe, and suppresses the generation of moments caused by the configuration of the measurement system by arranging multiple MEMS force sensors on the side of the ultrasound probe. This system has a shape and size that anticipates future use by being held by hand, and can measure contact force even when the ultrasound probe is tilted, as is typical for actual ultrasound diagnostics. It is an ultrasound imaging support system that enables the measurement of contact force within the range of forces required for actual ultrasound image acquisition. In other words, it is a system that collects information on the probe's posture and contact force (magnitude, direction, and point of application of force) for acquiring appropriate ultrasound images.

[0017] In other words, this configuration allows for the measurement of the magnitude and direction of the contact force of the ultrasonic probe, including the point of application, by constructing a three-dimensional so-called force plate on the ultrasonic probe. A force plate is a device that measures the force generated by the interaction between the body and the force plate, known as ground reaction force. Typically, it has four 3-axis force sensors and measures the force generated by movement on a plate (usually made of metal) on top of them. From this measurement, the center of pressure and the free moment, which is a moment generated by friction around the vertical axis, can also be calculated.

[0018] In the above configuration, the contact force calculation means can be configured to calculate the position of the point of application of the contact force Fp.

[0019] The above configuration allows for the calculation of the position of the point of application of contact force from the outputs (force, acceleration, and direction of acceleration) of each of the three-axis force sensors and inertia sensors.

[0020] According to the above configuration, it is possible to indicate not only the magnitude of the contact force, but also the position at which that contact force acts on the subject of the ultrasound examination. In other words, this configuration makes it possible to show the operator intuitive information about the ultrasound probe operation, such as how much contact force is applied and at what position, when scanning with the ultrasound probe. Specifically, with this configuration, the operation information of the ultrasound probe can be quantified by calculating the coordinates of the point of application, which indicates where the force acts.

[0021] In the above configuration, the position of the point of application of the contact force Fp can be calculated by setting the coordinates of the point of application to the position where the sum of the moments, which is the cross product of the position vectors based on the mounting positions of the three-axis force sensors arranged on both sides of the bracket in the X-axis direction and both sides of the Y-axis direction, and the force vectors output from each sensor, is zero, starting from the position of the point of application.

[0022] This configuration calculates the position of the point of application of force based on the fact that when the sum of the moments is zero, the moments of the forces acting on an object are balanced and it does not rotate, resulting in an equilibrium state. The moment is the cross product of the position vectors of each of the three-axis force sensors, starting from the point of application, and the force vectors measured by each of the three-axis force sensors. The coordinates where these moments cancel each other out and become zero are calculated by considering both clockwise and counterclockwise rotations.

[0023] With this configuration, the operating information of the ultrasonic probe can be easily quantified by calculating the coordinates of the point of application, which indicates where the force acts.

[0024] In the above configuration, the orientation of the ultrasonic probe can be calculated from the X-axis, Y-axis, and Z-axis accelerations output from the inertia sensor.

[0025] With this configuration, by measuring the acceleration acting on an object called an ultrasonic probe in a Cartesian coordinate system, the velocity and position can be calculated as integral values, and the orientation of the ultrasonic probe can be calculated.

[0026] Thus, the above configuration can provide the operator with intuitive information about the position of the ultrasound probe during probe operation.

[0027] In the above configuration, the information processing means may be further configured to include information processing means for recording and storing the contact force and orientation of the ultrasonic probe.

[0028] According to the above configuration, by recording the contact force and posture of the ultrasonic probe when operated by a particular operator, it is possible to provide feedback on the proficiency level of the operator and the effectiveness of training regarding the operation of the ultrasonic probe. Furthermore, by referring to the records of highly skilled operators, for example, it becomes possible to evaluate one's own operation and to imitate their techniques. In other words, it is possible to objectively display the amount of force and movement necessary for an operator to master the operation of the ultrasonic probe.

[0029] In the above configuration, the information processing means can be configured to record and store images captured by the ultrasonic probe in accordance with the contact force and orientation of the ultrasonic probe.

[0030] To ultimately determine whether the operator is correctly contacting the target with the ultrasound probe, it is necessary to review the acquired images. With the above configuration, by recording the images acquired by the ultrasound probe in accordance with the contact force and posture of the ultrasound probe, it becomes easier to obtain feedback, and post-operation reviews can be conducted with the participation of experienced personnel. In this way, by simultaneously acquiring ultrasound images during the imaging operation, the system can be made to improve overall operational proficiency.

[0031] In addition to the above configuration, the system can be configured to include an information processing means that inputs the X, Y, and Z axis coordinates in advance for the shape of the ultrasonic probe and bracket, and the positions where the three-axis force sensor and inertia sensor are placed. Based on these coordinates, a three-dimensional model of the ultrasonic probe and the bracket on which each sensor is placed is created, and when the ultrasonic probe is operated, the system moves the three-dimensional model according to the position and orientation of the ultrasonic probe based on the acceleration output by the inertia sensor.

[0032] The above configuration creates a three-dimensional model from data on the bracket shape and sensor placement, and further enables the operation of this three-dimensional model from the acceleration measurement results of the inertia sensor.

[0033] According to the above configuration, by creating a three-dimensional model and further operating this three-dimensional model in response to the operator's actions, the operator can intuitively obtain feedback on the operation of the ultrasonic probe, contributing to the improvement of operating skills.

[0034] In the above configuration, the information processing means can display the processed three-dimensional model, and the display means can superimpose the contact force Fp calculated by the contact force calculation means onto the display of the three-dimensional model as a vector representing the position of the point of application and the direction of the contact force.

[0035] According to the above configuration, in addition to the motion and posture of the ultrasonic probe, the contact force of the ultrasonic probe during scanning and the pressing force applied by the operator when the contact force is generated can be indicated digitally or visually in terms of magnitude and direction. Furthermore, by using a plurality of three-axis sensors and inertia sensors in the same manner as a force plate, the action point, magnitude and direction of the force can also be displayed together.

[0036] According to the above configuration, when the operator scans with the ultrasonic probe while viewing the display, the operator can grasp the relationship among the inclination of the ultrasonic probe, the pressing force and the contact force. Therefore, the operator can perform operations to eliminate variation in the ultrasonic images being acquired, and can also acquire and master operation techniques for obtaining better images.

[0037] In the above configuration, the display means can be configured to display images captured by the ultrasonic probe.

[0038] The present configuration displays the image captured by the ultrasonic probe along with the contact force generated when the ultrasonic probe comes into contact with a target and the force applied by the operator at that time.

[0039] By displaying the motion and posture of the ultrasonic probe, the contact force of the ultrasonic probe during scanning, the action point, magnitude and direction of the pressing force applied by the operator when the contact force is generated, together with the image captured by the ultrasonic probe, the operator can intuitively obtain feedback on probe operation techniques.

[0040] The forces Fx, Fy, Fz are calculated by Equation 1, Equation 2 and Equation 3, where 1 and 2 are the outputs of force sensors arranged on both side surfaces of the bracket in the X-axis direction, and 3 and 4 are the outputs of force sensors arranged on both side surfaces of the bracket in the Y-axis direction, Furthermore, when Gx, Gy, Gz are the accelerations of the inertia sensor in the X-axis direction, Y-axis direction, and Z-axis direction, respectively, m is the mass of the ultrasonic probe covered by the bracket on which each sensor is arranged, and g is gravitational acceleration, the correction for the influence of gravity is calculated by Equation 4, Equation 5, and Equation 6, The contact force Fp can be configured to be calculated by Equation 7.

[0041] This configuration defines a case where the contact force and the force applied to the ultrasonic probe (bracket) when the contact force is generated, that is, the pressing force of the operator, are calculated as orthogonal coordinates. The force in the X-axis direction is calculated from the component forces in the X, Y, and Z-axis directions measured by each sensor as shown in Mathematical Formula 1, the force in the Y-axis direction is shown in Mathematical Formula 2, and the force in the Z-axis direction is shown in Mathematical Formula 3. Additionally, this configuration defines Mathematical Formulas 4, 5, and 6 that eliminate the influence of gravity accompanying the posture of the ultrasonic probe and correct the force actually applied to the ultrasonic probe (bracket). Then, the magnitude (vector length) of the contact force Fp is calculated from Mathematical Formula 7.

[0042] According to the present configuration, by calculating the measured values of the triaxial force sensor and the inertia sensor and processing these measured values using the respective mathematical expressions, it is possible to accurately present the contact force when the ultrasonic probe contacts the target and the force applied by the operator at that time, which the operator desires to know.

[0043] The present invention relates to an ultrasonic imaging support system. One aspect thereof comprises: a cover closely attached to an ultrasonic probe such that a contact surface thereof is exposed; a bracket covering the cover; wherein when a direction orthogonal to the contact surface of the ultrasonic probe is defined as the Z-axis direction, the width direction of the ultrasonic probe is defined as the X-axis direction, and a direction orthogonal to the X-axis direction on the contact surface is defined as the Y-axis direction, triaxial force sensors that measure respective forces along the X-axis, Y-axis, and Z-axis, and are arranged on both side surfaces of the cover in the X-axis direction and both side surfaces in the Y-axis direction; an inertia sensor that measures acceleration and angular velocity about each of the X-axis, Y-axis, and Z-axis, and is arranged on any one of the cover, the bracket, or the ultrasonic probe; and contact force calculation means that calculates an X-axis direction force Fx, a Y-axis direction force Fy, and a Z-axis direction force Fz applied to the entire cover from outputs of the respective triaxial force sensors, further corrects the forces Fx, Fy, Fz based on the X-axis, Y-axis, and Z-axis accelerations output from the inertia sensor to calculate corrected forces F'x, F'y, F'z, and calculates the magnitude and direction of the contact force Fp of the ultrasonic probe against the contact surface.

[0044] In this configuration, when the ultrasonic probe comes into contact with the object, the force it receives from the object is measured as the contact force between the cover that is tightly attached to the ultrasonic probe and the object.

[0045] This configuration focuses on measuring the contact force with the imaging target. By arranging multiple MEMS force sensors on the side of the ultrasonic probe in a cover that can be easily attached to the ultrasonic probe, it is possible to provide an ultrasonic imaging support system that measures contact force while suppressing the generation of moments caused by the configuration of the measurement system.

[0046] This configuration, with its dual structure consisting of a cover and bracket sandwiching the sensor, can be easily retrofitted to existing probes.

[0047] The present invention provides an ultrasonic imaging support system that provides the operator with intuitive information about the ultrasonic probe operation, such as the amount of contact force and the way the ultrasonic probe is being moved during imaging and scanning with the ultrasonic probe.

[0048] This is an overall configuration diagram relating to one embodiment of the present invention. This is a perspective view of an ultrasonic probe relating to one embodiment of the present invention. This is an example of the arrangement of a bracket and sensor relating to one embodiment of the present invention. This is an explanatory diagram relating to contact force calculation relating to one embodiment of the present invention. This is an explanatory diagram relating to contact force calculation relating to one embodiment of the present invention. This is an explanatory diagram showing an example of a display means relating to one embodiment of the present invention. This is an explanatory diagram showing an experimental system in one embodiment of the present invention. This is an explanatory diagram of contact force verification in one embodiment of the present invention, showing the time series transition of the contact force calculation value and the load measurement value (load cell). This is an explanatory diagram of contact force verification in one embodiment of the present invention, showing the time series transition of the contact force calculation value when a target value is set. This is an explanatory diagram of contact force verification with respect to attitude (angle) displacement in one embodiment of the present invention, showing the correlation between the contact force calculation value and the load measurement value (load cell). This is a perspective view of the cover of an ultrasonic probe according to another embodiment of the present invention.

[0049] Hereinafter, preferred embodiments of the ultrasonic imaging support system of the present invention will be described with reference to the drawings. In the following description, components that are denoted by the same reference numerals in different drawings are considered to be the same, and their descriptions may be omitted.

[0050] One embodiment of the present invention is an ultrasonic imaging support system comprising: a bracket that covers an ultrasonic probe so that the contact surface is exposed; three-axis force sensors arranged on both sides of the bracket in the X-axis direction and both sides of the Y-axis direction, which measure the forces in the X-axis, Y-axis, and Z-axis directions when the direction in which the ultrasonic probe is perpendicular to the contact surface is the Z-axis direction, the width direction of the ultrasonic probe is the X-axis direction, and the direction on the contact surface is perpendicular to the X-axis direction is the Y-axis direction; inertia sensors arranged on the bracket or ultrasonic probe that measure the acceleration and angular velocity of each of the X-axis, Y-axis, and Z-axis directions; and contact force calculation means that calculates the force in the X-axis direction Fx, the force in the Y-axis direction Fy, and the force in the Z-axis direction applied to the entire bracket from the outputs of each three-axis force sensor, and further corrects Fx, Fy, and Fz from the accelerations of the X-axis, Y-axis, and Z-axis output from the inertia sensor to calculate F'x, F'y, and F'z, and calculates the magnitude and direction of the contact force Fp on the contact surface of the ultrasonic probe. Any specific embodiment of the system is acceptable.

[0051] Another aspect of the present invention includes: a cover that is in close contact with an ultrasonic probe so that the contact surface is exposed; a bracket that covers the cover; a three-axis force sensor that measures the forces in the X, Y, and Z axes when the direction perpendicular to the contact surface of the ultrasonic probe is the Z-axis direction, the width direction of the ultrasonic probe is the X-axis direction, and the direction perpendicular to the X-axis direction on the contact surface is the Y-axis direction, and is positioned on both sides of the cover in the X-axis direction and both sides of the Y-axis direction; and an inertia sensor that measures the acceleration and angular velocity of each of the X, Y, and Z axes and is positioned on the cover, bracket, or ultrasonic probe. Any specific form of an ultrasonic imaging support system is acceptable, as long as it includes a contact force calculation means that calculates the force Fx in the X-axis direction, the force Fy in the Y-axis direction, and the force Fz in the Z-axis direction applied to the entire cover from the output of each of the three-axis force sensors, and further corrects the forces Fx, Fy, and Fz from the X-axis, Y-axis, and Z-axis accelerations output from the inertia sensor to calculate the forces F'x, F'y, and F'z, and calculates the magnitude and direction of the contact force Fp of the ultrasonic probe to the contact surface.

[0052] The following description will only cover the configuration in which sensors are placed on a bracket that covers the ultrasonic probe. Note that since both configurations where sensors are placed on the ultrasonic probe cover and configurations where sensors are placed on a bracket that covers the ultrasonic probe can measure essentially the same physical quantities such as force and acceleration, the calculation of contact force, etc., in the configurations and examples described below can also be applied to configurations where sensors are placed directly on the ultrasonic probe.

[0053] (Description of Embodiments) First, the overall configuration of the ultrasonic imaging support system according to one embodiment of the present invention will be described with reference to Figures 1 to 6. Figure 1 is a block diagram illustrating the overall configuration according to one embodiment of the present invention. Figure 2 is a perspective view of the ultrasonic probe. Figure 3 is an example of the arrangement of the bracket and sensor. Figure 4 is an explanatory diagram relating to contact force calculation. Figure 5 is an explanatory diagram relating to contact force calculation. Figure 6 is an explanatory diagram showing an example of a display means.

[0054] <Description of the overall configuration> Referring to Figures 1 to 6, the ultrasonic imaging support system 1 according to this embodiment includes a front bracket 215 and a rear bracket 220 that cover the ultrasonic probe 100 so as to expose the contact surface 25 of the object 20 to be scanned by the ultrasonic probe 100, and are joined together to form a bracket 210.

[0055] In this embodiment, as shown in Figures 4 and 6, the direction in which the ultrasonic probe 100 is perpendicular to the contact surface 25 is defined as the Z-axis direction, the width direction of the ultrasonic probe 100 is defined as the X-axis direction, and the direction on the contact surface 25 that is perpendicular to the X-axis direction is defined as the Y-axis direction.

[0056] Referring to Figures 3 and 4, this embodiment will be described in detail. It measures the forces in the X, Y, and Z axes and includes a first side three-axis force sensor 230 and a second side three-axis force sensor 232 located on both sides of the bracket in the X-axis direction, and a front three-axis force sensor 240 and a rear three-axis force sensor 242 located on both sides of the bracket in the Y-axis direction.

[0057] Furthermore, the system includes an inertia sensor 250 that measures the acceleration and angular velocity of each of the X, Y, and Z axes and is located on one side of the bracket 210 in the X-axis direction (front bracket 215 in Figure 3). The first side three-axis force sensor 230, the second side three-axis force sensor 232, the front three-axis force sensor 240, and the rear three-axis force sensor 242 shown in Figure 3 are positioned so that when the bracket 210 is attached to the ultrasonic probe 100, each sensor is pressed against the ultrasonic probe 100 so that the force applied to the ultrasonic probe 100 can be measured. At this time, a cover may be added to fill the intermediate space to ensure reliable force transmission, in accordance with the outer shape of the ultrasonic probe 100.

[0058] Referring to Figures 1, 4, and 5, the system includes a force calculation unit 310 that calculates the X-axis force Fx, Y-axis force Fy, and Z-axis force Fz applied to the entire bracket 210 from the outputs of the respective three-axis force sensors 230, 232, 240, and 242; a force correction unit 320 that corrects Fx, Fy, and Fz from the X-axis, Y-axis, and Z-axis accelerations output from the inertia sensor 250 to calculate F'x, F'y, and F'z; a contact force calculation unit 330 that calculates the contact force Fp on the contact surface of the ultrasonic probe; and a point of application calculation unit 340 that calculates the position of the point of application of the contact force from the results of the force correction unit 320.

[0059] The point of application calculation unit 340 calculates the moment of the bracket 210, and as shown by the dashed lines in Figure 1, the output values ​​from the three-axis force sensors 230, 232, 240, 242 and the inertia sensor 250 are also input. Then, the position of the point of application is calculated by calculating the moment.

[0060] The point of application is the position where the sum of the moments is zero when the bracket 210 is considered a solid of revolution. That is, the coordinates of the point of application on the bracket 210 are unknown, and the coordinates of the point of application can be calculated by solving an equation in which the sum of the moments of the forces around the point of application is zero.

[0061] Specifically, the moment is defined by the cross product of the position vector and the force vector. Based on the mounting positions of the three-axis force sensors 230, 232, 240, and 242, a position vector can be calculated starting from the point of application. The three-axis force sensors 230, 232, 240, and 242 output their respective force vectors, and the cross product calculates a moment that simultaneously expresses the direction (direction of rotation) and magnitude (strength of rotation). The position where the sum of these moments is zero is then the coordinate of the point of application.

[0062] The ultrasonic imaging support system 1 further includes a 3D model creation unit 410 that creates a 3D model of the ultrasonic probe 100 and the bracket 210 on which the respective 3-axis force sensors 230, 232, 240, 242 and inertia sensor 250 are positioned, based on the X, Y, and Z axis coordinates, using the shapes of the ultrasonic probe 100 and bracket 210, and the positions where the 3-axis force sensors 230, 232, 240, 242 and inertia sensor 250 are positioned, which have been input in advance from the probe shape / sensor placement input unit 150.

[0063] Furthermore, the system includes an information processing means 400 which has a 3D model motion calculation unit (position / orientation) 420 that moves the 3D model according to the position and orientation of the ultrasonic probe 100, based on the 3D model created by the 3D model creation unit 410 and the acceleration output by the inertia sensor 250 when the ultrasonic probe 100 is operated.

[0064] In addition to the above, the ultrasonic imaging support system 1 includes a display means 500 in which the information processing means 400 displays the processed 3D model, and the contact force calculation means 300 calculates the forces F'x, F'y, F'z and the contact force Fp, which are then superimposed as vectors onto the display of the 3D model.

[0065] The ultrasonic probe 100 shown in Figure 2 is a typical convex-type probe, and is equipped with an acoustic lens 110 on the measurement side that scans the target 20. Inside the ultrasonic probe 100, behind the acoustic lens 110, are arranged an acoustic matching layer (not shown), a piezoelectric element (vibrator), and a backing material.

[0066] The principle of the ultrasonic probe 100 utilizes the property that when a voltage is applied to a piezoelectric element, it vibrates and generates ultrasound, and when vibration (ultrasound) is applied to a piezoelectric element, a voltage is generated.

[0067] The main role of the ultrasound probe 100 is to transmit and receive ultrasound waves. It is a crucial component that affects the image quality of ultrasound diagnostic equipment in the medical field. It transmits ultrasound waves towards the area to be diagnosed and receives waves reflected from organs and tissues.

[0068] Ultrasound probes 100 come in various types depending on their application, including the convex type used for ultrasound examinations of the abdomen and organs as shown in Figure 2, the sector type used for cardiac ultrasound examinations, and the linear type used for superficial blood vessels. Furthermore, depending on the environment in which they are used, there are contact-type, delay-material-type, and immersion-type probes. This embodiment can be applied to any of these ultrasound probes 100.

[0069] Furthermore, it becomes possible to prepare a dummy that mimics an actual ultrasound probe, attach the bracket 210 to this dummy, and conduct training, especially for beginners.

[0070] Each of the three-axis force sensors 230, 232, 240, and 242, as shown in an example in Figure 4A, is a sensor that detects forces applied in the three axial directions of the X, Y, and Z axes by decomposing them. They are also called force sensors and are used in the development, research, and experiments of robots, welfare equipment, sports equipment, etc.

[0071] The inertia sensor 250, also known as an inertial sensor, is a sensor that detects the movement of an object and measures its attitude, velocity, position, etc. It combines sensors such as acceleration sensors and gyroscopes and is used in various fields such as aircraft, ships, automobiles, smartphones, and cameras.

[0072] By arranging the three-axis force sensors 230, 232, 240, 242 and the inertia sensor 250 as shown in Figures 3 and 4B, a similar function to that of a so-called force plate can be achieved.

[0073] The force plate quantifies biomechanical parameters such as balance and gait, and by applying these characteristics to this embodiment, it is possible to calculate the pressure center of the ultrasonic probe 100 and the moment generated by friction around the vertical axis, known as the free moment.

[0074] The contact force calculation means 300 and the information processing means 400 are composed of a microcomputer and include a processor CPU that performs calculations, a ROM that stores control programs and lists, tables, and maps of various data, and a RAM that temporarily stores calculation results from the CPU. The contact force calculation means 300 and the information processing means 400 are equipped with non-volatile memory, and necessary data is stored in this non-volatile memory. The non-volatile memory can be composed of a rewritable ROM (EEPROM) or a RAM with a backup function that retains memory by supplying a holding current even when the power is turned off.

[0075] The display means 500 displays the results calculated by the contact force calculation means 300 and the information processing means 400 in a way that can be visually understood by the operator 10. The display means 500 can be, for example, a monitor 540 (see Figure 6) with a built-in microcomputer that can display various types of video signals (analog, digital, etc.) even when they are input.

[0076] With this configuration, as shown in Figure 1, the ultrasonic probe scan image 160 captured by the ultrasonic probe is acquired, and a three-dimensional model of the ultrasonic probe 100 to which the bracket 210 is attached is displayed. The operator 10 can then superimpose the forces F'x, F'y, F'z and contact force Fp during operation as vectors (point of application, force, direction) onto the display of the three-dimensional model.

[0077] Referring to Figure 6, an example of the display means 500 is shown, in which the operator 10 is pressing the ultrasound probe 100 against the contact surface 25 of the abdomen of the target 20 and scanning it. The image captured and scanned by the ultrasound probe 100 is displayed on the monitor 540. An enlarged view of the monitor 540 is shown on the right side of Figure 6. Here, a three-dimensional model of the ultrasound probe 100 is displayed on the left side of the screen, and the point of application of force 520 and the contact force at that time are shown as vector representations 530. In this embodiment, the vector representation is obtained by superimposing the force F'x, F'y, F'z and the contact force Fp as vectors (point of application, force, direction) onto the display of the three-dimensional model. Also, the ultrasound image 510 of the target 20 during scanning is superimposed on the right side of the screen.

[0078] In addition to the information presentation method using the monitor 540 as shown in Figure 6, information can also be presented using audio (onomatopoeia representing contact status and magnitude of contact force, or verbal instructions, etc.). Regarding the content of the display, vector display is just one example; it is also possible to show numerical values ​​for size and coordinate position, or provide examples of how to move the ultrasonic probe.

[0079] <Example of Contact Force Measurement> Next, the measurement and calculation of contact force will be explained with reference to Figures 1, 4, 5, and 6. The hardware portion of the ultrasonic imaging support system 1 shown in Figure 3, which is arranged on the ultrasonic probe 100, consists of a front bracket 215 and a rear bracket 220 that cover the ultrasonic probe 100 so that the contact surface 25 of the object 20 being scanned by the ultrasonic probe 100 is exposed, and are joined together to form a bracket 210; a first side 3-axis force sensor 230 and a second side 3-axis force sensor 232, which measure the forces in the X, Y, and Z axes and are arranged on both sides of the bracket 210 in the X-axis direction, and a front 3-axis force sensor 240 and a rear 3-axis force sensor 242, which measure the forces in the X, Y, and Z axes and are arranged on both sides of the bracket 210 in the Y-axis direction; and an inertia sensor 250, which measures the acceleration and angular velocity of each of the X, Y, and Z axes and is arranged on one side of the bracket 210 in the X-axis direction (front bracket 215 in Figure 3).

[0080] The bracket 210 is attached to clamp the ultrasonic probe 100 and operates in conjunction with the ultrasonic probe 100. The three-axis force sensors 230, 232, 240, 242 and the inertia sensor 250 are arranged as shown in Figures 3, 4B, and 5.

[0081] The ultrasonic probe 100 and the bracket 210 are connected only via the three-axis force sensors 230, 232, 240, and 242, and are structured so that they do not come into contact with each other. As shown in Figure 3, by arranging two pairs of each three-axis force sensor 230, 232, 240, and 242 opposite each other, sandwiched between the ultrasonic probe 100 and the bracket 210, the relative orientation of the hand-side part and the internal ultrasonic probe can be maintained. Note that this arrangement of three-axis force sensors is just one example; by increasing the number of pairs, such as two sets of three-axis force sensors or even double that (two sets x 2), it is possible to stabilize the orientation of the ultrasonic probe while performing measurements.

[0082] Furthermore, when the bracket 210 supports the ultrasonic probe 100 via the respective three-axis force sensors 230, 232, 240, and 242, changes in the orientation of the ultrasonic probe 100 may affect the measured values ​​due to gravity associated with the mass (weight) of the ultrasonic probe.

[0083] Therefore, the inertia sensor 250 is fixed to the outside of the front bracket 215 to compensate for the effect of gravity caused by the mass (weight) of the ultrasonic probe 100 itself when the module is tilted. In this explanation, it is assumed that the ultrasonic probe 100 with the bracket 210 attached is held by the operator 10 for ultrasonic examination and scanning, as shown in Figure 6.

[0084] As shown in Figure 6, the operator 10 brings the acoustic lens 110 portion of the ultrasonic probe 100, to which the bracket 210 is attached, into contact with the object 20. The force that the ultrasonic probe 100 receives from the object 20 at this time is measured as the contact force between the ultrasonic probe 100 and the object 20.

[0085] In this embodiment, the ultrasonic probe 100 and the bracket 210 are integrated into a single structure. With this configuration, the contact force of the ultrasonic probe 100 on the target 20 can be measured and calculated from the outputs of the respective three-axis force sensors 230, 232, 240, and 242.

[0086] When operator 10 performs the task of scanning the ultrasound probe 100 to which the bracket 210 is attached, a holding force is generated to maintain the position and orientation of the ultrasound probe 100, and a gripping force is generated as the operator grips the probe. These forces are applied to the ultrasound probe 100.

[0087] To calculate the holding force, it is necessary to act in a way that balances the contact force Fp applied to the ultrasonic probe 100. Within the ultrasonic probe 100 to which the bracket 210 is attached, the forces received by each of the three-axis force sensors 230, 232, 240, and 242 via the bracket 210 when the ultrasonic probe 100 comes into contact with the object 20 are balanced by the force with which each of the three-axis force sensors 230, 232, 240, and 242 is supported by the holding force.

[0088] Next, it is estimated that the gripping force will not affect the contact force measurement if the surface rigidity of the bracket 210 is sufficiently high.

[0089] Referring to Figure 4, the relationship between the force applied inside the ultrasonic probe 100 to which the bracket 210 is attached and the contact force Fp received as a reaction force from the object 20 is schematically shown. As mentioned above, the coordinate axes are defined as follows: the direction in which the ultrasonic probe 100 is perpendicular to the contact surface 25 is the Z-axis direction, the direction in which it scans on the contact surface 25 is the Y-axis direction, and the direction on the contact surface 25 perpendicular to the Y-axis direction is the X-axis direction.

[0090] In Figures 4B and 4D, the thick solid arrows represent the contact force Fp that the ultrasonic probe 100 receives from the object 20, the thin dashed lines represent the component forces Fx, Fy, and Fz of the force Fp received by the bracket 210, and the dashed arrows represent the contact force F that the ultrasonic probe 100 applies to the object 20. Ｔ The thin solid arrow near the center of Figure 4B represents the gravitational force mg (mass x gravitational acceleration) acting on the ultrasonic probe 100.

[0091] If we represent the forces acting on each of the three-axis force sensors 230, 232, 240, and 242 with the Arabic numerals 1, 2, 3, and 4 respectively, the thick black arrows in Figures 4C and 4D represent the resultant force of the forces Fx, Fy, and Fz acting on each of the three-axis force sensors 230, 232, 240, and 242, while the thick gray arrows represent the resultant force of the forces that the ultrasonic probe 100 receives from each of the three-axis force sensors 230, 232, 240, and 242.

[0092] The method for calculating the contact force Fp is explained below.

[0093] Fx, Fy, and Fz are calculated from the measured values ​​Fnx, Fny, and Fnz (n=1, 2, 3, 4) of the respective three-axis force sensors 230, 232, 240, and 242 using the following formula.

[0094]

[0095]

[0096]

[0097] As shown in the figure, the three-axis force sensors 230, 232, 240, and 242 are arranged so that their orientations are different. The x-axis direction of the first side three-axis force sensor 230 coincides with the -Y-axis direction, -Z-axis direction, and -X-axis direction of the bracket 210. The x-axis direction of the second side three-axis force sensor 232 coincides with the Y-axis direction, -Z-axis direction, and X-axis direction of the bracket 210. The x-axis direction of the front three-axis force sensor 240 coincides with the -X-axis direction, -Z-axis direction, and Y-axis direction of the bracket 210. The x-axis direction of the rear three-axis force sensor 242 coincides with the X-axis direction, -Z-axis direction, and -Y-axis direction of the bracket 210.

[0098] ​​​In actual ultrasound examinations, the ultrasound probe 100 is expected to be pressed against various parts of the subject 20's body. Therefore, the orientation of the ultrasound probe 100 relative to the horizontal plane is expected to change. Accordingly, this embodiment also makes it possible to measure the orientation of the ultrasound probe 100 with the bracket 210 attached. In other words, the influence of the mass of the ultrasound probe 100 with the bracket 210 attached, due to gravitational acceleration, on the measurement value under gravity is corrected.

[0099] The inertia sensor 250 measures the changes in acceleration in the X, Y, and Z axes of the ultrasonic probe 100 to which the bracket 210 is attached, and corrects for the effects of gravity based on these measurement results.

[0100] The corrected output values ​​F'x, F'y, and F'z for each axis can be calculated using the following formula. Here, m is the mass of the ultrasonic probe 100 to which the bracket 210 is attached, g is the acceleration due to gravity, and Gx, Gy, and Gz are the accelerations measured at each axis in the acceleration sensor coordinate system.

[0101]

[0102]

[0103]

[0104] The contact force Fp is calculated as the resultant force of the component forces F'x, F'y, and F'z on each axis, using the following formula.

[0105]

[0106] As described above, it becomes possible to correct for the influence of gravity on the measured values ​​due to changes in the posture of the ultrasonic probe 100 to which the bracket 210 is attached, and even when the operator 10 tilts the position of the ultrasonic probe 100 relative to the target 20, an accurate contact force Fp can be calculated.

[0107] ​​​​<Explanation of a prototype example of an ultrasonic probe 100 with bracket 210 attached> Figure 3 shows an ultrasonic probe 100 with a prototype bracket 210 attached. The bracket 210 was fabricated using a thermal deposition modeling 3D printer. The ultrasonic probe 100 is a Pocket Echo Miruco; a product of Nippon Sigmax Co., Ltd.

[0108] For the three-axis force sensor, a compact six-axis force sensor (S18C1-WM155-K1-P4I; TouchEnce Co., Ltd.) was used to enable force measurement in three axes.

[0109] The front bracket 215 is provided with a fixing section for the small 6-axis force sensor. By forming a frame that matches the external shape of the small 6-axis force sensor, the lateral movement of the small 6-axis force sensor is prevented, and the four small 6-axis force sensors corresponding to the 3-axis force sensors 230, 232, 240, and 242 are each fixed with strong double-sided tape.

[0110] Furthermore, inside the bracket 210, a cover part is added to the ultrasonic probe 100 side, as shown in Figure 12, which will be described later. To prevent the ultrasonic probe 100 and the small 6-axis force sensor from slipping against each other, the front 3-axis force sensor 240, the rear 3-axis force sensor 242, and the parts fixed to the ultrasonic probe 100 are secured using strong double-sided tape.

[0111] The first side three-axis force sensor 230 and the second side three-axis force sensor 232 are not fixed to the ultrasonic probe 100, but rather are configured to exert force through contact and restraint.

[0112] After attaching the bracket 210 to the ultrasonic probe 100, the inertia sensor 250 was fixed to the side of the front bracket 215 with strong double-sided tape, comprising a high-performance inertial measurement unit (BMI088; seeed studio) equipped with a Grove-6 axis accelerometer and a 6 DoF (degrees of freedom) gyroscope.

[0113] In verifying the principle of measuring the contact force Fp in this prototype, strong double-sided tape was used because even if displacement occurs, the action-reaction relationship is maintained and does not affect the evaluation. However, in measurements involving ultrasonic imaging, it is preferable to use adhesive or the like to firmly fix the components in place, as this may affect the captured image.

[0114] In this prototype, the dimensions of the ultrasonic probe 100 were 132 mm in length, 78 mm in width, 24 mm in thickness, and 43 mm in gripping width. In contrast, the dimensions of the ultrasonic probe 100 with the bracket 210 attached were 134 mm in length, 91 mm in width, 35 mm in thickness, and 53 mm in gripping width.

[0115] When the operator 10 grasps the ultrasonic probe 100 with the bracket 210 attached, the width, thickness, and gripping width, which are affected by these dimensions, are 13 mm, 11 mm, and 10 mm larger, respectively, compared to the original ultrasonic probe 100.

[0116] Here, the bracket 210 has a symmetrical shape in the width direction and the thickness direction, and the front bracket 215 and the rear bracket 220 are designed to fit together, so that no external protrusions are created after assembly, and the shape is designed to be easy for the operator 10 to operate.

[0117] <Explanation of Measurement and Calculation Examples of Contact Force Fp> Next, with reference to Figures 7 to 11, an example of measurement and calculation of contact force Fp using a prototype example according to this embodiment will be explained. Figure 7 is an explanatory diagram of contact force verification in one embodiment of the present invention, showing the time series transition between the calculated contact force value and the measured load value (load cell). Figure 7 is an explanatory diagram showing the experimental system in one embodiment of the present invention. Figure 8 is an explanatory diagram of contact force verification in one embodiment of the present invention, showing the correlation between the calculated contact force value and the measured load value (load cell). Figure 9 is an explanatory diagram of contact force verification in one embodiment of the present invention, showing the time series transition of the calculated contact force value when a target value is set. Figure 10 is an explanatory diagram of contact force verification with respect to attitude (angle) displacement in one embodiment of the present invention, showing the correlation between the calculated contact force value and the measured load value (load cell).

[0118] To confirm whether it is possible to measure and calculate the contact force Fp of the ultrasonic probe 100 independently of changes in the orientation of the ultrasonic probe 100, the angle of the ultrasonic probe 100 with respect to the contact surface was changed and the contact force Fp was measured.

[0119] Referring to Figure 7, this prototype consists of an ultrasonic probe 100 (Contact force measurement module; sometimes referred to as "module" below to match the descriptions in Figures 7-11) with a bracket 210 attached, a manual linear stage, a silicone sheet, a load cell (OPFT-50N-B; Minebea Co., Ltd.), and a goniometer stage. The inertial sensor 250 is mounted on the front bracket 215.

[0120] To simulate the situation of holding the probe by hand and adjusting its angle while imaging, the ultrasound probe 100 with the bracket 210 attached is fixed to a manual stage, and a goniometer stage is attached to the bottom of the manual stage, so that it can be pressed against the probe while changing its angle with respect to the horizontal plane.

[0121] Similarly, a goniometer stage was also attached to the bottom of the load cell. The manual stage and the goniometer stage on the bottom of the load cell were tilted at the same angle with respect to the horizontal plane, and the ultrasonic probe 100, to which the bracket 210 was attached, was brought into contact with the load cell 20 times perpendicularly at 0.5 N intervals, via a silicone sheet to protect the surface of the acoustic lens 110 and an aluminum plate to transmit the force to be measured across the surface.

[0122] The range of contact force applied here was determined by referring to experimental data published in Non-Patent Document 1, and the force range operated by operator 10 during actual ultrasonic imaging was set to 0 to 8 N. Then, while maintaining a positional relationship of perpendicular contact, measurements were taken at angles of -30 degrees, 0 degrees, 15 degrees, and 30 degrees with respect to the horizontal plane.

[0123] Figure 8 shows the time-series data of contact force, with the horizontal axis of the graph representing measurement time and the vertical axis representing the measured contact force. Here, ○ represents the measured value of the load cell, and × represents the measured value of the module. From the graph, it can be seen that the measured value of the module behaves similarly to the measured value of the load cell.

[0124] Figure 9 is a graph showing the correlation between the measured values ​​of the load cell and the measured values ​​of the module, with the horizontal axis of the graph representing the contact force F measured by the load cell. TL The vertical axis represents the contact force F measured by the module. PM The graph shows the results of a linear regression operation performed on the measurement results. The correlation coefficient between the measured values ​​was 0.998, indicating a strong positive correlation between the load cell measurements and the module measurements over time.

[0125] From the above, it was found that in actual operation, real-time measurements can be performed using an ultrasound imaging support system 1 having an ultrasound probe 100 with a bracket 210 attached.

[0126] Next, in order to compare the contact forces obtained as time-series data, we statically set multiple contact force conditions and evaluated the contact forces.

[0127] The specific procedure involves manually pushing the ultrasonic probe 100, to which the bracket 210 is attached, into place using a manual stage, and stopping the manual stage when the measured value approximately reaches the target value of the contact force. Then, the average of the measured values ​​over 5 seconds after stabilizing the output of the load cell and module is used as the contact force F, indicated by the subscript L of the load cell's contact force measurement value. TL The contact force F of the module is indicated by the subscript M. ＰＭ It was used and evaluated as such.

[0128] Figure 10 shows the time variation of the standard measured values ​​of the module at this time. Figure 11 shows the contact force measurement results for each angle. In the graph, the horizontal axis represents the measured values ​​of the load cell, and the vertical axis represents the measured values ​​of the module. Each point represents the measured value, and the straight line represents the approximate straight line of the measured value passing through the origin. The inclination of the ultrasonic probe 100 with respect to the horizontal plane is 0 degrees in Figure 11A, 15 degrees in Figure 11B, 30 degrees in Figure 11C, and -30 degrees in Figure 11D.

[0129] Referring to these results, under any condition, the contact force F, which is the measurement value of the load cell, ＴＬ and the contact force F, which is the measurement value of the module, ＰＮ both increase linearly. Looking at the slope of the approximated straight line obtained by regression, when the inclination angle of the R ２ value when the inclination of the ultrasonic probe 100 with respect to the horizontal plane is 0 degrees, looking at the slope of the approximated straight line, 0.98 R ２ value is 0.9999. Further, in the cases of 15 degrees, 30 degrees, and -30 degrees, the slopes of the approximated straight lines are 0.95, 0.95, and 0.96 respectively, and R ２ values are 0.9998, 0.9998, and 0.9999, which are comparable to the value obtained at 0 degrees.

[0130] From the above, it was found that by measuring the posture of the ultrasonic probe 100 (module) equipped with the bracket 210 and correcting the influence of gravity under gravitational acceleration, contact force measurement can be performed regardless of the inclination angle of the ultrasonic probe 100.

[0131] This is the end of the description of the present embodiment, but the aspects of the present invention are not limited to the above embodiment. For example, as described above, a configuration may be adopted in which sensors are arranged on a cover or the like of an ultrasonic probe.

[0132] The configuration in which sensors are arranged on the cover or the like of an ultrasonic probe and the configuration in which sensors are arranged on a bracket that covers the ultrasonic probe can basically measure the same physical quantities such as force and acceleration. In the case of a bracket, since it can be additionally attached to the ultrasonic probe later, if the outer shape of the ultrasonic probe is the same, it can be compatible with a plurality of probes.

[0133] <Other Embodiments> In addition to the embodiments described above, as shown in Figure 12, it is also possible to configure the ultrasonic probe 100 with a cover (first cover 610, second cover 620) that is in close contact with the ultrasonic probe 100 so that the contact surface 25 of the ultrasonic probe 100 is exposed between the bracket 210 shown in Figure 3 and the ultrasonic probe 100. The first cover 610 and second cover 620 shown in Figure 12 are attached so as to be in close contact with the ultrasonic probe 100 and are further housed in the bracket 210 as shown in Figure 3.

[0134] In this configuration, when the ultrasonic probe 100 comes into contact with the object 20, the force that the ultrasonic probe receives from the object is measured as the contact force between the cover (first cover 610, second cover 620) that is in close contact with the ultrasonic probe and the object 20.

[0135] This configuration provides an ultrasonic imaging support system that measures contact force with the object 20 being imaged, by placing multiple MEMS force sensors on the side of the ultrasonic probe 100 on covers (first cover 610, second cover 620) that can be easily attached to the ultrasonic probe 100, thereby suppressing the generation of moments caused by the configuration of the measurement system.

[0136] Furthermore, this configuration, with its double-layered structure consisting of a cover and bracket sandwiching the sensor, can be easily retrofitted to existing probes.

[0137] 1... Ultrasonic imaging support system 10... Operator 20... Target 25... Contact surface 100... Ultrasonic probe 110... Acoustic lens 150... Probe shape, sensor placement input section 160... Ultrasonic probe scanning image 210... Bracket 215... Front bracket 220... Rear bracket 230... First side 3-axis force sensor 232... Second side 3-axis force sensor 240... Front 3-axis force sensor 242... Rear 3-axis force sensor 250... Inertia sensor 300... Contact force calculation means 310... Force calculation unit 320... Force correction unit 330... Contact force calculation unit 340... Point of application position calculation unit 400... Information processing means 410... 3D model creation unit 420... 3D model motion calculation unit 500... Display means 510... Ultrasonic image 520... Point of application 530... Vector display 540... Monitor 550... Vector display 610...First cover 620...Second cover CL...Axis line

Claims

1. An ultrasonic imaging support system comprising: a bracket that covers an ultrasonic probe so that the contact surface is exposed; three-axis force sensors positioned on both sides of the bracket in the X-axis direction and both sides of the Y-axis direction, which measure forces in the X-axis, Y-axis, and Z-axis directions, with the direction perpendicular to the contact surface of the ultrasonic probe being the Z-axis direction, the width direction of the ultrasonic probe being the X-axis direction, and the direction perpendicular to the X-axis direction on the contact surface being the Y-axis direction; inertia sensors positioned on the bracket or the ultrasonic probe, which measure acceleration and angular velocity in each of the X-axis, Y-axis, and Z-axis directions; and contact force calculation means that calculates the force Fx in the X-axis direction, the force Fy in the Y-axis direction, and the force Fz in the Z-axis direction applied to the entire bracket from the outputs of each of the three-axis force sensors, and further corrects the forces Fx, Fy, and Fz from the accelerations of the X-axis, Y-axis, and Z-axis output from the inertia sensors to calculate forces F'x, F'y, and F'z, and calculates the magnitude and direction of the contact force Fp of the ultrasonic probe to the contact surface.

2. The ultrasonic imaging support system according to claim 1, wherein the contact force calculation means calculates the position of the point of application of the contact force Fp.

3. The ultrasonic imaging support system according to claim 2, wherein the position of the point of application of the contact force Fp is calculated by taking the position vector based on the mounting positions of the three-axis force sensors arranged on both sides in the X-axis direction and both sides in the Y-axis direction of the bracket, starting from the position of the point of application, and the position where the sum of the moments, which is the cross product of the force vectors output from each sensor, is zero, as the coordinates of the point of application.

4. The ultrasonic imaging support system according to claim 1 or claim 2, which calculates the orientation of the ultrasonic probe from the X-axis, Y-axis, and Z-axis accelerations output from the inertia sensor.

5. The ultrasonic imaging support system according to claim 1 or 2, further comprising information processing means for recording and storing the contact force and orientation of the ultrasonic probe.

6. The ultrasonic imaging support system according to claim 5, wherein the information processing means records and stores images captured by the ultrasonic probe in accordance with the contact force and orientation of the ultrasonic probe.

7. The ultrasonic imaging support system according to claim 5, wherein the information processing means inputs the X, Y, and Z axis coordinates in advance for the shapes of the ultrasonic probe and the bracket, and the positions on which the respective three-axis force sensors and inertia sensors are located, and creates a three-dimensional model of the ultrasonic probe and the bracket on which the respective three-axis force sensors are located based on these coordinates, and when the ultrasonic probe is operated, moves the three-dimensional model according to the position and orientation of the ultrasonic probe based on the acceleration output by the inertia sensor.

8. The ultrasonic imaging support system according to claim 5, further comprising a display means for displaying the processed three-dimensional model, and superimposing the contact force Fp calculated by the contact force calculation means as a vector representing the position of the point of application and the direction of the contact force onto the display of the three-dimensional model.

9. The ultrasonic imaging support system according to claim 8, wherein the display means displays an image captured by an ultrasonic probe.

10. The forces Fx, Fy, and Fz are calculated using equations 1, 2, and 3, where the outputs of the force sensors located on both sides of the bracket in the X-axis direction are 1 and 2, and the outputs of the force sensors located on both sides of the bracket in the Y-axis direction are 3 and 4. Furthermore, when the accelerations of the inertia sensor in the X, Y, and Z axes are Gx, Gy, and Gz, respectively, and the mass of the ultrasonic probe covered by the bracket on which each sensor is positioned is m, and the acceleration due to gravity is g, the correction for the effect of gravity is calculated by equations 4, 5, and 6. The ultrasonic imaging support system according to claim 1 or 2, wherein the contact force Fp is calculated by equation 7.

11. A cover that is in close contact with the ultrasonic probe so that the contact surface is exposed; a bracket that covers the cover; a three-axis force sensor that measures the force in the X, Y, and Z axes when the direction in which the ultrasonic probe is perpendicular to the contact surface is the Z-axis direction, the width direction of the ultrasonic probe is the X-axis direction, and the direction on the contact surface is perpendicular to the X-axis direction is the Y-axis direction, and is positioned on both sides of the cover in the X-axis direction and both sides of the cover in the Y-axis direction; an inertia sensor that measures the acceleration and angular velocity of each of the X, Y, and Z axes and is positioned on the cover, the bracket, or the ultrasonic probe; An ultrasonic imaging support system comprising: a contact force calculation means that calculates the force Fx in the X-axis direction, the force Fy in the Y-axis direction, and the force Fz in the Z-axis direction applied to the entire cover from the output of each of the three-axis force sensors, and further corrects the forces Fx, Fy, and Fz from the accelerations of the X, Y, and Z axes output from the inertia sensor to calculate forces F'x, F'y, and F'z, and calculates the magnitude and direction of the contact force Fp of the ultrasonic probe to the contact surface.

Images